Title :
Collaborative calibration: extending shape from motion calibration
Author :
Voyles, Richard M. ; Khosla, Pradeep K.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
In this paper we summarize recent research results from a new technique of sensor calibration called shape-from-motion calibration. We first present the basic technique, which is an eigenspace analysis, and show that it includes the rigor of least squares without the full burden of measuring all the applied inputs. Next we present new research that removes another constraint of the calibration technique and extends the robustness to cover systems with slight nonlinearities
Keywords :
calibration; eigenvalues and eigenfunctions; image recognition; motion estimation; nonlinear systems; robot vision; collaborative calibration; eigenspace analysis; least-squares method; nonlinearities; sensor calibration; shape-from-motion calibration; Calibration; Collaboration; Force sensors; Least squares methods; Manipulators; Matrix decomposition; Mobile robots; Robot sensing systems; Shape; Vectors;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606710
